WO2021172928A2 - Appareil et procédé d'indication d'état d'alignement - Google Patents

Appareil et procédé d'indication d'état d'alignement Download PDF

Info

Publication number
WO2021172928A2
WO2021172928A2 PCT/KR2021/002446 KR2021002446W WO2021172928A2 WO 2021172928 A2 WO2021172928 A2 WO 2021172928A2 KR 2021002446 W KR2021002446 W KR 2021002446W WO 2021172928 A2 WO2021172928 A2 WO 2021172928A2
Authority
WO
WIPO (PCT)
Prior art keywords
alignment
data
actuator
case
scanner
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2021/002446
Other languages
English (en)
Korean (ko)
Other versions
WO2021172928A3 (fr
Inventor
이동훈
이수복
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Medit Corp
Original Assignee
Medit Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020210025633A external-priority patent/KR102536647B1/ko
Application filed by Medit Corp filed Critical Medit Corp
Priority to CN202190000322.XU priority Critical patent/CN219629828U/zh
Publication of WO2021172928A2 publication Critical patent/WO2021172928A2/fr
Publication of WO2021172928A3 publication Critical patent/WO2021172928A3/fr
Priority to US17/897,126 priority patent/US12303354B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/189—Recording image signals; Reproducing recorded image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/194—Transmission of image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/27—Server based end-user applications
    • H04N21/274—Storing end-user multimedia data in response to end-user request, e.g. network recorder

Definitions

  • the present invention relates to an alignment-state indicating apparatus and method using thereof.
  • 3D scanning technology plays a key role in the CAD/CAM system, and in particular, it scans the inside of the patient's mouth (used to include teeth, gums, jawbone, etc.) to produce a prosthesis that conforms to the patient's oral structure. and is frequently used for treatment.
  • the user had to repeatedly check whether the 3D model is being formed normally while scanning the inside of the patient's mouth while looking at the display screen connected to the oral scanner.
  • the user of the oral scanner usually concentrates on the inside of the patient's mouth, that is, the part being scanned, and the user often turns his head to check the display screen. If the scan is continued in this way, the user's fatigue will increase rapidly, and the concentration will be dispersed in the process of scanning the inside of the patient's mouth, so there is a concern that the accuracy of the data in acquiring a 3D model of the patient's mouth will decrease. have.
  • an object of the present invention is to provide an alignment state expression device that enables a user to quickly and intuitively recognize an alignment error.
  • Another object of the present invention is to provide an alignment state expression method in which a user using a scanner can intuitively recognize a state in which connection and alignment between 3D data is not normally performed (alignment error).
  • the present invention provides a case having an opening opening so that an object is incident in the form of light, disposed inside the case, and receiving light incident through the opening of the case to store raw data
  • a photographing unit that acquires
  • a control unit that performs data connection and alignment (alignment) between the three-dimensional data generated by the photographing of the photographing unit, and determines the occurrence of an alignment error
  • an actuator that vibrates when the alignment error occurs
  • An object of the present invention is to provide an alignment state expression apparatus and an alignment state expression method implemented by the apparatus.
  • the user can minimize the data gap by additionally photographing the adjacent part of the part where the vibration is sensed by the actuator, and as a result, there is an advantage that a precise three-dimensional model can be obtained.
  • the vibration is sensed tactilely, so that the scanner user can quickly respond.
  • 1 and 2 are for explaining an apparatus for expressing an alignment state according to the present invention.
  • Figure 3 is for explaining the position of the actuator is formed in the alignment state expression device according to the present invention.
  • FIG. 4 is for explaining a scanner to which a handle is applied in the apparatus for expressing an alignment state according to the present invention.
  • FIG. 5 is a flowchart of an alignment state expression method according to the present invention.
  • FIG. 6 is a conceptual diagram for performing a scan through a scanner in the alignment state expression method according to the present invention.
  • FIG. 7 is a conceptual diagram illustrating a state in which an alignment is broken and a data blank occurs in the alignment state expression method according to the present invention.
  • 1 and 2 are for explaining an apparatus for expressing an alignment state according to the present invention.
  • the alignment state expression device (A) according to the present invention can be drawn in and out of the oral cavity, and an opening is formed so that the appearance of the interior of the oral cavity is incident in the form of light through one end.
  • the case 10 and the photographing unit 20 disposed inside the case 10 and receiving the light incident through the opening of the case 10 to acquire raw data by the built-in imaging sensor 23 ) may be included.
  • the case 10 acquires shape information, shape information, color information, etc. about the inside of the patient's mouth through a scanning process among the alignment state expression device A, and generates data about the inside of the mouth based on the obtained information It may be the exterior of the scanner (1).
  • the case 10 allows the components of the scanner 1 to be disposed therein, thereby protecting the components from the external environment.
  • the case 10 may include a body case 11 and a tip case 14 .
  • the body case 11 may include a lower case 12 constituting a lower end of the body case 11 and an upper case 13 constituting an upper end of the body case 11 .
  • the components of the scanner 1 disposed inside the main body case 11 may be protected from the external environment.
  • the tip case 14 has an opening on one side to guide the incoming light to the photographing unit 20 , and the tip case 14 is disposed therein to guide the light to the photographing unit 20 . It protects the components from the external environment. Meanwhile, the user may perform a scan process by pressing the button 15 formed on the main body case 11 .
  • the scanner 1 may be formed in a handheld form. By using the handheld scanner 1 , the user may perform a scan to have a free angle and a distance to the object, and may additionally scan a corresponding portion for an insufficiently scanned portion.
  • the actual oral cavity of the patient has been described as an example of the scan object, but is not limited thereto. That is, various scannable objects such as a plaster model, an impression model, an oral cavity or a plaster model to which a dental prosthesis such as a crown or implant is applied may be used as the scan object as the object.
  • various scannable objects such as a plaster model, an impression model, an oral cavity or a plaster model to which a dental prosthesis such as a crown or implant is applied may be used as the scan object as the object.
  • the photographing unit 20 may include a camera 21 that acquires received light from an opening formed at one end of the case 10, and the camera 21 constituting the photographing unit 20 may be a single single camera. Or it may be two or more multi-cameras. Exemplarily, the photographing unit 20 may acquire more precise data by photographing the same point at different angles and/or distances by including two or more cameras 21 like a human eyeball.
  • the photographing unit 20 may include a projector 22 that is formed on one side of the camera 21 and emits light through an opening.
  • the projector 22 may generate a specific type of light, and the generated light may be formed in various ways according to the needs of the user.
  • the light generated by the projector 22 may have a wavelength in the visible ray region.
  • the projector 22 may irradiate structured light into the oral cavity in order to convert the raw data acquired by the photographing unit 20 into 3D data having a predetermined volume.
  • the structured light may be a stripe pattern in which bright portions and dark portions appear alternately, but is not limited thereto.
  • the image sensor 23 formed on the imaging board acquires raw data from the light received by the camera 21 .
  • the image sensor 23 may be a CCD sensor, a CMOS sensor, or the like, but is not necessarily limited thereto, and any sensor for acquiring raw data from received light may be used.
  • the raw data may be a 2D image or 3D image data obtained to generate a 3D model of the object.
  • the raw data may be data (eg, two-dimensional image data) acquired by the camera 21 included in the scanner when the object is scanned using the scanner 1 .
  • an optical element 30 for transmitting light incident into the scanner 1 to the photographing unit 20 may be formed inside one end of the tip case 14 .
  • the optical element 30 may be formed of a material capable of refracting and reflecting light, for example, the optical element 30 may be a mirror or a prism.
  • the light transmitted to the photographing unit 20 by the optical element 30 may be light reflected from the object, and the light may be reflected light emitted from the projector 22 touching the outer surface of the object.
  • the process in which the light received by the camera 21 through the optical element 30 is generated as raw data by the image sensor 23 is as described above.
  • raw data obtained by the operation of the photographing unit 20 may be transmitted to the data processing apparatus 2 spaced apart from the scanner 1 to be converted into 3D data.
  • the 3D data may be generated based on a plurality of raw data.
  • the 3D data may be a 3D model generated based on a plurality of raw data, and data connection and alignment (alignment) between 3D data are performed.
  • the alignment process may be performed in various ways, for example, it may be performed using an Iterative Closest Point (ICP) method.
  • ICP Iterative Closest Point
  • the scanner 1 further includes a communication unit 40 .
  • the communication unit 40 may transmit the raw data obtained by the scanner 1 to the data processing device 2 .
  • the communication unit 40 transmits the raw data stored in the scanner 1 to the data processing apparatus 2 through the wire.
  • the communication unit 40 transmits the raw data stored in the scanner 1 to the data processing device 2 using a communication method such as Wifi or Zigbee. do.
  • the scanner 1 may further include a storage unit.
  • the obtained raw data may be temporarily stored in the storage unit.
  • the raw data stored in the storage unit may be transmitted through the communication unit 40 when the scanner 1 and the data processing device 2 are connected.
  • the data processing apparatus 2 may be connected through a wired or wireless communication network through the communication unit 40 of the scanner 1 .
  • the data processing device 2 may be a computing device such as a laptop computer, a smart phone, a desktop computer, a PDA, or a tablet PC, but is not limited thereto.
  • the data processing apparatus 2 may include a control unit 100 and a display unit 200 . More specifically, the controller 100 may determine an alignment error and control the actuator 50 to vibrate by performing connection and alignment between 3D data.
  • the display unit 200 may visually display a user interface (UI), and is converted into three-dimensional data to show data representing the inside of the patient's mouth. In addition, when an error occurs in the course of performing the alignment, an error occurrence portion may be visually displayed.
  • UI user interface
  • control unit 100 is expressed as a configuration separate from the scanner 1 , but the present invention is not limited thereto and may be included in the scanner 1 .
  • a controller (not shown) formed inside the scanner may control the actuator 50 to vibrate.
  • the alignment state expression device (A) may include an actuator (50).
  • the actuator 50 may be configured to generate vibration by a rotational operation.
  • the actuator 50 may operate to connect and align (align) data between the three-dimensional data generated by the photographing of the photographing unit 20, and vibrate when an error occurs in the alignment process.
  • the alignment error may mean a state in which connection and alignment between 3D data are not continuous. An alignment error may occur when there is no overlapping portion when connecting 3D data, or data reliability of an overlapping portion formed between 3D data is low.
  • the controller 100 of the data processing apparatus 2 may convert the raw data received from the scanner 1 into 3D data, and an alignment process is performed using an overlapping portion between the 3D data. During the alignment process, if there is no point in common between the 3D data or the reliability of the common point is low, the corresponding part is determined as an alignment error.
  • the controller 100 may apply a control signal to the actuator 50 through the communication unit 40 of the scanner 1 to notify the user of the point determined as an alignment error.
  • the actuator 50 may vibrate intermittently or continuously based on a control signal applied from the controller 100 .
  • the actuator 50 may operate to vibrate once for a predetermined time.
  • the actuator 50 may operate to stop the operation after one vibration.
  • the actuator 50 may have any shape as long as it is formed to be built-in inside the case 10, and when the scanner 1 is of a handheld type, a portion held by a user who scans the inside of the patient's oral cavity, that is, the body described above. It may be formed to be adjacent to the inside of the case 11 . By disposing the actuator inside the body case 11, the tip case 14 part is drawn into the oral cavity, causing inconvenience to the patient by applying an unintentional impact to the patient's oral cavity due to vibration while performing a scan. you can avoid giving it.
  • the actuator 50 may be disposed at an inner end of the lower case 12 forming the lower end of the case 10 .
  • the actuator 50 may be disposed at one end adjacent to the tip case 14 among inner ends of the lower case 12 .
  • the outer surface of the lower case 12 at the position where the actuator 50 is disposed may be gripped by the user.
  • the actuator 50 is formed adjacent to a position where the user grips the scanner 1 , so that when an alignment error occurs, the user can quickly recognize the error.
  • the user typically wraps one end of the upper case 13 with a thumb and wraps one end of the lower case 12 with the other fingers (index finger, middle finger, ring finger, and little finger), so that the user Vibration of the actuator 50 disposed at one end of the case 12 can be easily detected.
  • the actuator 50 is disposed at one end adjacent to the tip case 14 among the inner ends of the lower case 12 , so that vibration generated by the actuator 50 is formed at the other inner end of the lower case 12 . There is an effect of minimizing the application of an unintentional impact to the inside of the patient's oral cavity rather than the vibration generated by the actuator 50 being.
  • the frame 16 formed inside the lower case 12 .
  • the frame 16 may be formed in a bent shape to cover a portion of the outer circumferential surface of the actuator 50 , but is not limited thereto. Since the frame 16 covers a part of the outer peripheral surface of the actuator 50, vibration generated by the actuator 50 is attenuated by the frame 16, whereby the intensity of vibration in the lower case 12 held by the user is attenuated. This has the effect of minimizing unintentional impact to the inside of the patient's oral cavity during scanning.
  • the frame 16 serves as a vibration damper, there is an advantage in that it is possible to minimize the effect of vibration on the photographing unit 20 and to obtain clear raw data and 3D data.
  • the frame 16 may be formed of a metal material in order to effectively dampen the vibration of the actuator 50 .
  • FIG 4 is for explaining a scanner to which the handle portion 70 is applied in the alignment state expression device according to the present invention.
  • the scanner 1 constituting the alignment state expression device A is coupled to the outer surface of the case 10 to form a gun further including a handle portion 70 formed as an integral body.
  • the handle 70 may include a trigger 73 that is pressed by the user's at least one finger to turn on/off the scanning process.
  • the trigger 73 is formed in the form of a trigger, and when the trigger is pressed, a scan process is performed, and when the pressurization is stopped, the scan process can also be stopped.
  • the scan may be performed when the user presses the outer surface of the trigger with the index finger, and the scan may be stopped if the user does not press (stop pressing).
  • the handle portion 70 is formed to extend in one direction from the outer surface of the cover portion 71 and the outer surface of the case 10 to cover a portion of the outer surface of the case 10, fingers other than the finger pressing the trigger (73). It may include a gripping portion 72 formed so as to wrap the outer surface.
  • the grip portion 72 may be gripped as if gripping its outer surface with another finger not positioned on the trigger 73 . For example, when the user operates the trigger 73 using the index finger, the remaining fingers (thumb, middle finger, ring finger, and small finger) of the user may wrap the outer surface of the grip portion 72 .
  • the handle portion 70 including the trigger 73 and the grip portion 72 is additionally formed, so that the user can perform a scan by pressing the trigger 73 while gripping the handle portion 70 .
  • the trigger 73 may perform the same role as the button 15 described above.
  • the handle part 70 may additionally include a trigger protection part 74 spaced apart from the outer surface of the trigger 73 and formed between the cover part 71 and the grip part 72 .
  • At least one finger (eg, index finger) of the user for pressing the trigger 73 as described above through the internal space formed between the trigger protection unit 74 and the trigger 73 can be inserted and accommodated
  • the trigger 73 is determined to perform and stop scanning only by whether the user's index finger is pressed. Since the trigger protection part 74 is formed, there is an advantage in that the scan is prevented from being unnecessarily performed by an unintended object pressing the trigger 73 .
  • the trigger protection unit 74 is formed to have a ring-shaped space in a direction perpendicular to the longitudinal direction of the case 10, the user's finger can be easily accommodated.
  • the actuator 50 may be formed to be built in the grip portion 72 of the handle portion 70 .
  • the user can easily sense the vibration of the actuator 50 built in the grip part 72 by fingers other than the fingers located on one surface of the trigger 73, and thus the user is in the alignment state ( alignment error) can be efficiently detected.
  • FIG. 5 is a flowchart of an alignment state expression method according to the present invention
  • FIG. 6 is a conceptual diagram of performing a scan through a scanner in the alignment state expression method according to the present invention
  • FIG. 7 is an alignment state according to the present invention In the expression method, it is a conceptual diagram expressing a state in which alignment is broken and a data blank occurs.
  • the alignment state expression method according to the present invention includes a scanning step (S2) of scanning the inside of the oral cavity, which is an object, through a scanner, and a light incident into the scanner at the scanning step (S2) into the inside of the scanner.
  • the scanning step S2 may be a step of scanning the inside of the oral cavity, which is the object T, through a scanner.
  • a scanner user usually, a dentist who diagnoses and treats a patient may be a user
  • a handheld type scanner with his/her hand and is a patient who is an object T to scan. can scan the inside of your mouth.
  • the teeth formed in the patient's oral cavity may be continuously scanned from one direction to the other, and portions in which scans have been insufficiently performed may be additionally scanned if necessary.
  • the scanner may irradiate a specific light toward the object (light irradiation step, S1).
  • the light irradiated toward the object may be generated by a projector built in the scanner, and the type of generated light is as described above.
  • the raw data acquisition step S3 may be a step in which the photographing unit forms raw data (eg, a two-dimensional image) through the light incident into the scanner in the aforementioned scanning step S2 .
  • the photographing unit may include at least one camera formed inside the main body case as described above.
  • 'at least one camera' may be a single camera composed of one unit, or a multi-camera composed of two or more units.
  • the photographing unit may include an imaging sensor communicatively connected to the camera. The imaging sensor generates raw data by analyzing the light incident through the camera.
  • the 3D data conversion step S4 may be a step of converting the raw data obtained in the above-described raw data obtaining step S3 into 3D data. Specifically, in order to convert the photographed two-dimensional image of the inside of the oral cavity into three-dimensional data having a volume, the brightness value of each pixel of the two-dimensional image may be used. In addition, in order to collect information required for 3D data conversion from the 2D image, light having the form of structured light may be irradiated to the object in the light irradiation step ( S1 ).
  • the aligning step ( S5 ) may be a step of overlapping and aligning the obtained 3D data so that portions overlapping each other are connected.
  • the patient's maxilla, mandible, and occlusal data can be acquired, respectively, and as the maxilla, mandible, and occlusal data are connected and aligned with each other, as a result, one 3D model is completed. do.
  • the alignment check step ( S6 ) may be a step of confirming whether there is a portion where the 3D data overlaps each other and the data are connected and aligned with each other.
  • the feedback step S7 may be a step of expressing an error state in the scanner 1 when it is determined that data connection and alignment between 3D data are not normally performed in the alignment check step S6 .
  • the feedback in the present invention may mean a step of performing a notification so that the user of the scanner 1 can recognize the alignment error state, for example, the user is aligned by vibration of the actuator. You can make it aware of an error condition.
  • the actuator may operate to continuously vibrate in the feedback step S7. That is, when an alignment error occurs, the actuator may operate to continuously vibrate, and when vibration occurs in the scanner, the user may recognize that an alignment error has occurred. Accordingly, the user may perform an additional scan on the portion where the vibration is generated when the scanning step S2 is performed.
  • the actuator can stop vibrating, and as a result, the user can stably scan the inside of the patient's mouth Thus, a highly reliable three-dimensional oral model can be obtained.
  • the vibration of the actuator may operate to vibrate once for a predetermined time.
  • the period for which the actuator vibrates may be set to a length that is minimally affected by the vibration when the user performs a scan.
  • the time during which the actuator vibrates may be set to a length that does not cause inconvenience to the patient, such as applying an impact to the teeth due to the vibration of the actuator.
  • the time the actuator vibrates to notify the alignment error in the feedback step S7 may be an instantaneous vibration within about 1 second.
  • the actuator may operate to vibrate once for the first 0.2 seconds.
  • the actuator may stop vibrating when it is determined that data connection and alignment between 3D data are normally performed after vibrating once for a predetermined time. Accordingly, the user can easily recognize that an alignment error has occurred when vibration is sensed in the scanner.
  • the actuator may be operated to vibrate intermittently at regular periodic intervals.
  • any periodic interval may be used as long as it is a periodic interval that can be recognized by the user.
  • the actuator vibrates intermittently to have a vibration time of about 0.1 to 0.5 seconds and a rest time of about 2 to 5 seconds, so that the user can easily recognize the state in which the scan is being performed normally.
  • the actuator When normal scan and alignment are performed due to the vibration characteristics as described above, the actuator intermittently vibrates to have a certain periodic interval, and when a problem occurs in scan and alignment, the actuator vibrates continuously or intermittently. , the user can easily recognize whether the inside of the oral cavity is being scanned normally.
  • the actuator vibrates strongly and/or longer than when the normal scan and alignment are performed, so that the user can more clearly recognize the alignment error. do.
  • feedback of the occurrence of an alignment error by vibration of the actuator can be selectively applied according to the needs of the user, and the function of the actuator to vibrate when an alignment error occurs is performed on the user interface of the application (program) for performing the scan process. On/off can be set.
  • the user may hold the handheld oral scanner and scan the inside of the patient's oral cavity, which is the object T to be scanned.
  • the scanner 1 may continuously receive images of the inside of the patient's mouth, and the received images may be converted into three-dimensional data by a data processing device. Meanwhile, in the process of scanning the object T, if the object is not sufficiently scanned, a portion in which the connection between data becomes unclear occurs, and the portion remains as a data blank (B).
  • the scanned data after the data blank B occurs cannot be linked and aligned with the scanned data before the data blank B occurs.
  • a data blank B is generated. That is, connection and alignment between 3D data may have been normally performed up to the first scan area SC1, but for the second scan area SC2 scanned after the occurrence of the data blank B, the first scan area SC1 and It is difficult to proceed with additional scans because the data connection relationship of
  • vibration of the actuator is generated, and the user can quickly and intuitively recognize the vibration of the actuator through the tactile sense of the hand holding the scanner 1 .
  • various vibration intensity, vibration period may include a continuous or intermittent case), etc. may be used.
  • the scan is repeated (repeat step S8).
  • Repeating the scan may mean continuously performing the scanning step S2, and the user may acquire precise 3D model data by collecting a sufficient amount of data about the object.
  • optical element 40 communication unit
  • actuator 70 handle part
  • T object SC1: first scan area
  • the present invention provides an apparatus for expressing an alignment state and a method for expressing an alignment state in which a user using a scanner can intuitively recognize a state in which connection and alignment between 3D data is not normally performed (alignment error) it is for

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Epidemiology (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

La présente invention concerne un appareil d'indication d'état d'alignement et un procédé d'indication d'état d'alignement mis en œuvre par l'appareil, l'appareil comprenant : un boîtier comportant une ouverture qui est ouverte de telle sorte qu'un objet sous la forme de lumière entre dans le boîtier ; une unité de capture d'image qui est disposée dans le boîtier et reçoit la lumière incidente à travers l'ouverture du boîtier pour obtenir des données brutes ; une unité de commande qui réalise une connexion de données et un alignement entre des éléments de données tridimensionnelles générées par capture d'image de l'unité de capture d'image et détermine si une erreur d'alignement s'est produite ; et un actionneur qui vibre lorsque l'erreur d'alignement s'est produite.
PCT/KR2021/002446 2020-02-28 2021-02-26 Appareil et procédé d'indication d'état d'alignement Ceased WO2021172928A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202190000322.XU CN219629828U (zh) 2020-02-28 2021-02-26 对准状态指示装置
US17/897,126 US12303354B2 (en) 2020-02-28 2022-08-27 Alignment state indicating apparatus and method

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20200025433 2020-02-28
KR10-2020-0025433 2020-02-28
KR1020210025633A KR102536647B1 (ko) 2020-02-28 2021-02-25 얼라인 상태 표현 장치 및 방법
KR10-2021-0025633 2021-02-25

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/897,126 Continuation US12303354B2 (en) 2020-02-28 2022-08-27 Alignment state indicating apparatus and method

Publications (2)

Publication Number Publication Date
WO2021172928A2 true WO2021172928A2 (fr) 2021-09-02
WO2021172928A3 WO2021172928A3 (fr) 2021-10-21

Family

ID=77490116

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2021/002446 Ceased WO2021172928A2 (fr) 2020-02-28 2021-02-26 Appareil et procédé d'indication d'état d'alignement

Country Status (2)

Country Link
US (1) US12303354B2 (fr)
WO (1) WO2021172928A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4340773B1 (fr) * 2021-05-18 2025-05-21 Align Technology, Inc. Manchon de scanner intrabuccal
USD1073069S1 (en) 2021-05-18 2025-04-29 Align Technology, Inc. Protective sleeve for an intraoral scanner
USD988513S1 (en) * 2022-08-19 2023-06-06 Sprintray Inc. Intraoral scanner

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5725376A (en) * 1996-02-27 1998-03-10 Poirier; Michel Methods for manufacturing a dental implant drill guide and a dental implant superstructure
US5967777A (en) * 1997-11-24 1999-10-19 Klein; Michael Surgical template assembly and method for drilling and installing dental implants
DE19952962B4 (de) * 1999-11-03 2004-07-01 Sirona Dental Systems Gmbh Verfahren zur Herstellung einer Bohrhilfe für ein Zahnimplantat
US7538764B2 (en) * 2001-01-05 2009-05-26 Interuniversitair Micro-Elektronica Centrum (Imec) System and method to obtain surface structures of multi-dimensional objects, and to represent those surface structures for animation, transmission and display
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US7423640B2 (en) * 2004-04-23 2008-09-09 Siemens Medical Solutions Usa, Inc. Method and system for panoramic display of medical images
US7339586B2 (en) * 2004-04-23 2008-03-04 Siemens Medical Solutions Usa, Inc. Method and system for mesh-to-image registration using raycasting
US7477359B2 (en) * 2005-02-11 2009-01-13 Deltasphere, Inc. Method and apparatus for making and displaying measurements based upon multiple 3D rangefinder data sets
US8150111B2 (en) * 2005-03-15 2012-04-03 The University Of North Carolina At Chapel Hill Methods, systems, and computer program products for processing three-dimensional image data to render an image from a viewpoint within or beyond an occluding region of the image data
US7873192B1 (en) * 2005-05-20 2011-01-18 Imaging Sciences International Llc Method for providing a smoothed image
US7813591B2 (en) * 2006-01-20 2010-10-12 3M Innovative Properties Company Visual feedback of 3D scan parameters
US7835811B2 (en) * 2006-10-07 2010-11-16 Voxelogix Corporation Surgical guides and methods for positioning artificial teeth and dental implants
DE102007001684B4 (de) * 2007-01-11 2023-01-26 Sicat Gmbh & Co. Kg Bildregistrierung
US7978191B2 (en) * 2007-09-24 2011-07-12 Dolphin Imaging Systems, Llc System and method for locating anatomies of interest in a 3D volume
EP2280651A2 (fr) * 2008-05-16 2011-02-09 Geodigm Corporation Procédé et appareil permettant de combiner des images de scanner dentaire 3d avec d'autres ensembles de données 3d
US9730776B2 (en) * 2010-02-24 2017-08-15 D4D Technologies, Llc Display method and system for enabling an operator to visualize and correct alignment errors in imaged data sets
US9849252B2 (en) * 2012-05-04 2017-12-26 Sofia Eleni Armes Electromechanical manipulating device for medical needle and syringe with sensory biofeedback and pain suppression capability
KR20160014470A (ko) 2014-07-29 2016-02-11 삼성전자주식회사 비시각 정보 제공 기반의 컴퓨터 보조 진단 지원 장치 및 방법과, 컴퓨터 보조 진단 시스템
KR101621156B1 (ko) 2014-08-13 2016-05-13 석재승 3차원 구강 스캐너
US20170215698A1 (en) * 2016-01-28 2017-08-03 Dental Wings Inc. System and method for providing user feedback indications during intra-oral scanning process
US20170289523A1 (en) * 2016-03-30 2017-10-05 Vatech Co., Ltd. Dental intraoral scanner system
KR102549678B1 (ko) * 2017-05-03 2023-07-03 3디오, 아이엔씨. 3 차원 엑스레이 이미지 시스템
KR20180126166A (ko) 2017-05-17 2018-11-27 주식회사바텍 디스플레이를 갖는 구강 스캐너 및 이를 포함하는 구강 스캐너 시스템
KR102266641B1 (ko) * 2018-08-07 2021-06-21 주식회사 메디트 3차원 구강 스캐너용 핸들
EP3946139B1 (fr) * 2019-03-26 2024-10-30 Cvstom Co. Procédés et systèmes de planification de traitement orthodontique

Also Published As

Publication number Publication date
US12303354B2 (en) 2025-05-20
US20220409347A1 (en) 2022-12-29
WO2021172928A3 (fr) 2021-10-21

Similar Documents

Publication Publication Date Title
WO2021172928A2 (fr) Appareil et procédé d'indication d'état d'alignement
CN108965653B (zh) 一种口腔内窥器
KR101977181B1 (ko) 치과용 구강스캐너 시스템
CN113727636A (zh) 具有可更换扫描尖端的扫描仪设备
US6956601B2 (en) Intra-oral camera with touch screen integral display and contamination control
WO2019212245A1 (fr) Scanner oral tridimensionnel
WO2021133090A2 (fr) Procédé d'examen d'un élément optique intégré dans un scanner intrabuccal et système l'utilisant
WO2016182109A1 (fr) Appareil combiné de balayage de modèle et de balayage de cavité buccale
KR20190129247A (ko) 치아진단 방법 및 치아진단용 전자 장치
JP6734695B2 (ja) カラーダーシラインパターンを用いた対象物の三次元スキャニング
WO2017022986A1 (fr) Dispositif pour l'acquisition d'informations de santé personnelles et procédé associé
JP2002355263A (ja) 歯科用カメラ
WO2023113499A1 (fr) Scanner intra-buccal
WO2021141424A1 (fr) Procédé de filtrage d'image
WO2024242363A9 (fr) Dispositif de scanner buccal 3d
WO2021085987A1 (fr) Appareil d'acquisition d'images du col de l'utérus
WO2018043799A1 (fr) Dispositif multifonctionnel pour l'acquisition d'informations de santé
JP6675348B2 (ja) 上下ボタンを備えた対象撮影装置及び対象撮影装置の作動方法
KR20250017837A (ko) 펜타입 3ｄ 구강 스캐너 장치
KR102536647B1 (ko) 얼라인 상태 표현 장치 및 방법
WO2021215816A1 (fr) Appareil et procédé d'indication d'état d'alignement
WO2022250282A1 (fr) Appareil et procédé pour concevoir un appareil orthodontique
WO2022092759A1 (fr) Dispositif de balayage intra-buccal tridimensionnel (3d) pour le diagnostic de caries dentaires
CN219629828U (zh) 对准状态指示装置
KR200366230Y1 (ko) 회전가능한 헤드를 갖는 구강 카메라

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21760536

Country of ref document: EP

Kind code of ref document: A2

WWE Wipo information: entry into national phase

Ref document number: 202190000322.X

Country of ref document: CN

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21760536

Country of ref document: EP

Kind code of ref document: A2